Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 694 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 183 HD_C 9.9999997e-06 ROLL_MIN 330 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 2.4000001

DIVE 694 ESCAPE_HEADING 100 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 3 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 4 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00065 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -11363.015 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 311 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3850 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043469137

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -62.615704 SEABIRD_T_H 0.00062159239

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00012025224 SEABIRD_T_I 2.0014088e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 1.6690842e-06

MASS 51717 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9685602

NAV_MODE 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1354375

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 1 SEABIRD_C_I -0.0013495153

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00019269099

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 609.0799

AH0_24V 150 D_PITCH 3 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3850 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 5 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2.4000001 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.00065 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00012025224 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -62.615704 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -11363.015

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 38 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.9685602 VBD_MIN 440

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1354375 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0013495153 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 694 NAV_MODE 0 SEABIRD_C_J 0.00019269099 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0043469137 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 4 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 060111,034006,6701.753,-5701.442,36,0.8,47,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060111,035450,6701.768,-5701.632,14,1.0,14,-37.6 MHEAD_RNG_PITCHd_Wd 114.5,10106,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 679

Post-dive calculations and measurements:

FREEZE 1.02,1.415,-0.932,0,1,0 ALTIM_TOP_PING 19.9,18.2

FINISH 1.0,1.013757 _24V_AH 21.7,79.799

SM_CCo 13418,224.32,0.080,0,0,440,609.08 _10V_AH 9.8,54.866

SM_GC 1.69,0.00,0.00,224.32,0.000,0.000,0.080,299,2788,440,-6.79,0.23,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 683 FG_AHR_10Vo 0.000

RAFOS 0,1294286461,4.033333,4.016944,49,46,44,43,42,41,606,559,1270,1362,1327,842 MEM 151724

RAFOS_FIX 6704.030273,-5704.088867,060111,040453,3,88,1.65 DATA_FILE_SIZE 36691,1044

IRIDIUM_FIX 6631.12,-5708.95,050111,232308 CAP_FILE_SIZE 142109,0

TT8_MAMPS 0.027713 CFSIZE 260165632,203845632

HUMID 46.02 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.52419 SOUNDSPEED 1467.8

TCM_TEMP 16.10 GPS 060111,074425,6702.040,-5659.059,37,1.1,37,-37.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 243 93.04 SBE_CT 721 24 375.53

Roll_motor 95 74 153.74 SBE_O2 0 0 0.00

VBD_pump_during_apogee 342 1004 7470.19 nil 0 0 0.00

VBD_pump_during_surface 224 80 391.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 52.84 nil 0 0 0.00

Iridium_during_connect 18 160 64.74 nil 0 0 0.00

Iridium_during_xfer 461 223 2231.61 nil 0 0 0.00

Transponder_ping 2 420 20.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.12

TT8 2602 19 508.07

LPSleep 8374 2 189.58

TT8_Active 704 19 137.61

TT8_Sampling 2252 39 881.22

TT8_CF8 606 45 272.76

TT8_Kalman 0 0 0.00

Analog_circuits 1693 12 199.16

GPS_charging 0 0 0.00

Compass 1782 15 262.09

RAFOS 2520 3 74.09

Transponder 16 30 4.93

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.0 0.0 0.0 0 164 0.00 0.00 -142.75 0.000 2 0.000 0.000 279 2785 3435 0 0 0 0 0 0

167 -0.57 -146.0 5.5 -10.5 25 187 8.43 2.33 -1.75 0.000 4 0.243 0.059 2283 1368 3523 0 0 0 0 0 0

287 -0.60 -146.0 32.1 -11.0 45 294 0.00 2.33 0.00 0.000 6 0.000 0.059 2281 2777 3524 0 0 0 0 0 0

633 -0.63 -146.0 71.4 -11.1 106 639 0.00 2.25 0.00 0.000 4 0.000 0.049 2281 1368 3523 0 0 0 0 0 0

671 -0.67 -146.0 75.6 -11.3 112 678 0.00 2.30 0.00 0.000 6 0.000 0.060 2279 2763 3523 0 0 0 0 0 0

1014 -0.70 -146.0 108.0 -8.7 165 1015 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2763 3522 0 0 0 0 0 0

1331 -0.75 -146.0 136.2 -8.2 195 1333 0.12 0.00 0.00 0.000 6 0.102 0.000 2220 2763 3522 0 0 0 0 0 0

1649 -0.69 -146.0 173.6 -11.9 225 1654 0.12 2.03 0.00 0.000 4 0.174 0.070 2247 3947 3522 0 0 0 0 0 0

1683 -0.69 -146.0 177.3 -10.4 228 1687 0.00 1.95 0.00 0.000 6 0.000 0.045 2247 2756 3522 0 0 0 0 0 0

2014 -0.69 -146.0 212.1 -10.2 259 2018 0.00 2.22 0.00 0.000 4 0.000 0.047 2247 1360 3523 0 0 0 0 0 0

2081 -0.71 -146.0 218.7 -9.4 264 2088 0.00 2.28 0.00 0.000 6 0.000 0.059 2247 2743 3523 0 0 0 0 0 0

2407 -0.71 -146.0 248.2 -8.9 295 2411 0.00 2.03 0.00 0.000 4 0.000 0.070 2247 3924 3524 0 0 0 0 0 0

2442 -0.71 -146.0 251.6 -9.8 298 2446 0.00 1.92 0.00 0.000 6 0.000 0.045 2247 2745 3524 0 0 0 0 0 0

2773 -0.71 -146.0 283.5 -9.9 329 2777 0.00 2.17 0.00 0.000 4 0.000 0.047 2247 1360 3524 0 0 0 0 0 0

2814 -0.73 -146.0 287.4 -9.8 332 2818 0.00 2.25 0.00 0.000 6 0.000 0.057 2247 2735 3524 0 0 0 0 0 0

3139 -0.73 -146.0 317.1 -8.8 362 3140 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2736 3525 0 0 0 0 0 0

3461 -0.73 -146.0 344.1 -9.3 392 3464 0.00 2.00 0.00 0.000 4 0.000 0.067 2247 3933 3526 0 0 0 0 0 0

3511 -0.76 -146.0 349.5 -10.1 396 3521 0.00 1.92 0.00 0.000 6 0.000 0.044 2247 2733 3526 0 0 0 0 0 0

3838 -0.76 -146.0 380.6 -9.4 427 3839 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2733 3527 0 0 0 0 0 0

4174 -0.78 -146.0 411.6 -8.8 451 4177 0.00 2.12 0.00 0.000 4 0.000 0.045 2247 1373 3528 0 0 0 0 0 0

4209 -0.81 -146.0 414.8 -8.3 452 4214 0.00 2.22 0.00 0.000 6 0.000 0.057 2247 2738 3528 0 0 0 0 0 0

4546 -0.81 -146.0 440.7 -7.8 463 4550 0.00 1.98 0.00 0.000 4 0.000 0.067 2243 3927 3529 0 0 0 0 0 0

4585 -0.83 -146.0 444.2 -7.9 464 4590 0.10 1.90 0.00 0.000 6 0.116 0.043 2192 2726 3529 0 0 0 0 0 0

4922 -0.74 -146.0 483.2 -12.0 475 4926 0.15 2.05 0.00 0.000 4 0.167 0.067 2225 3933 3529 0 0 0 0 0 0

4978 -0.74 -146.0 489.4 -10.0 476 4982 0.00 1.88 0.00 0.000 6 0.000 0.044 2224 2749 3529 0 0 0 0 0 0

5296 -0.72 -146.0 521.0 -10.0 487 5297 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2749 3530 0 0 0 0 0 0

5605 -0.70 -146.0 550.7 -9.7 497 5606 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2749 3530 0 0 0 0 0 0

5909 -0.70 -146.0 579.5 -9.2 507 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2749 3530 0 0 0 0 0 0

6215 -0.70 -146.0 608.9 -9.7 517 6216 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2749 3530 0 0 0 0 0 0

6522 -0.70 -146.0 639.9 -10.1 527 6523 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2749 3530 0 0 0 0 0 0

6827 -0.70 -146.0 671.5 -10.3 537 6828 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2749 3530 0 0 0 0 0 0

6916 end dive: TARGET_DEPTH_EXCEEDED

state 6916 begin apogee

6923 -0.14 0.0 680.8 10.2 540 7058 0.62 0.00 125.82 1.004 4 0.132 0.000 2426 2598 2922 0 0 0 0 0 0

7059 end apogee: CONTROL_FINISHED_OK

state 7059 begin climb

7061 0.57 146.0 686.1 0.0 544 7203 0.68 2.38 130.62 0.985 4 0.062 0.047 2670 1190 2326 0 0 0 0 0 0

7366 0.57 146.0 660.1 11.5 553 7370 0.00 2.40 0.00 0.000 6 0.000 0.054 2669 2600 2319 0 0 0 0 0 0

7680 0.51 146.0 619.8 13.4 563 7685 0.12 2.28 0.00 0.000 4 0.195 0.050 2643 1191 2315 0 0 0 0 0 0

7898 0.53 146.0 595.2 11.1 569 7903 0.00 2.30 0.00 0.000 6 0.000 0.054 2643 2611 2315 0 0 0 0 0 0

8212 0.53 146.0 558.4 11.8 579 8216 0.00 2.20 0.00 0.000 4 0.000 0.065 2644 3929 2314 0 0 0 0 0 0

8251 0.46 146.0 553.1 14.1 580 8256 0.00 2.12 0.00 0.000 6 0.000 0.043 2649 2605 2312 0 0 0 0 0 0

8587 0.44 146.0 515.2 11.0 591 8592 0.12 2.20 0.00 0.000 4 0.194 0.065 2617 3924 2312 0 0 0 0 0 0

8621 0.44 146.0 511.5 11.5 592 8624 0.00 2.10 0.00 0.000 6 0.000 0.042 2617 2614 2311 0 0 0 0 0 0

8957 0.49 173.4 482.0 8.7 603 8986 0.00 0.00 22.83 0.872 6 0.000 0.000 2617 2613 2215 0 0 0 0 0 0

9293 0.54 173.4 449.2 10.2 614 9297 0.00 2.22 0.00 0.000 4 0.000 0.067 2617 3928 2210 0 0 0 0 0 0

9309 0.57 173.4 447.1 10.6 614 9314 0.12 2.10 0.00 0.000 6 0.103 0.042 2673 2618 2209 0 0 0 0 0 0

9628 0.52 173.4 404.6 13.0 625 9629 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2616 2209 0 0 0 0 0 0

9946 0.48 173.4 366.0 12.6 651 9951 0.15 2.28 0.00 0.000 4 0.185 0.050 2635 1195 2208 0 0 0 0 0 0

9981 0.52 173.4 361.9 10.2 654 9985 0.00 2.35 0.00 0.000 6 0.000 0.054 2635 2639 2209 0 0 0 0 0 0

10311 0.52 173.4 328.0 10.2 685 10316 0.00 2.12 0.00 0.000 4 0.000 0.065 2635 3927 2208 0 0 0 0 0 0

10339 0.52 173.4 324.6 12.7 687 10346 0.00 2.08 0.00 0.000 6 0.000 0.042 2639 2625 2207 0 0 0 0 0 0

10664 0.52 173.4 290.6 10.1 718 10668 0.00 2.25 0.00 0.000 4 0.000 0.048 2638 1194 2207 0 0 0 0 0 0

10694 0.57 173.4 287.7 10.7 720 10698 0.00 2.33 0.00 0.000 6 0.000 0.052 2639 2638 2207 0 0 0 0 0 0

11019 0.57 173.4 252.4 11.5 750 11023 0.00 2.12 0.00 0.000 4 0.000 0.063 2639 3925 2207 0 0 0 0 0 0

11100 0.54 173.4 241.4 14.2 757 11104 0.00 2.05 0.00 0.000 6 0.000 0.041 2640 2638 2207 0 0 0 0 0 0

11431 0.54 173.4 203.8 10.7 788 11432 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2636 2207 0 0 0 0 0 0

11751 0.55 184.7 172.8 9.5 818 11763 0.00 0.00 9.73 0.650 6 0.000 0.000 2640 2636 2170 0 0 0 0 0 0

12082 0.59 185.7 138.6 10.0 849 12086 0.00 2.15 0.00 0.000 4 0.000 0.063 2640 3928 2169 0 0 0 0 0 0

12109 0.59 185.7 135.5 11.1 851 12116 0.00 2.03 0.00 0.000 6 0.000 0.040 2641 2653 2168 0 0 0 0 0 0

12436 0.66 208.5 107.5 8.9 882 12465 0.12 0.00 21.67 0.633 6 0.102 0.000 2696 2653 2072 0 0 0 0 0 0

12802 0.63 208.5 63.4 11.9 941 12809 0.00 2.12 0.00 0.000 4 0.000 0.063 2696 3932 2067 0 0 0 0 0 0

12834 0.58 208.5 59.0 13.2 946 12841 0.15 2.00 0.00 0.000 6 0.183 0.041 2662 2671 2066 0 0 0 0 0 0

13183 0.64 225.8 26.9 9.2 1007 13208 0.00 2.40 15.12 0.591 4 0.000 0.048 2662 1193 2001 0 0 0 0 0 0

13268 0.76 244.2 18.9 9.2 1021 13294 0.15 2.35 16.92 0.581 6 0.091 0.051 2727 2655 1927 0 0 0 0 0 0

13382 end climb: SURFACE_DEPTH_REACHED

state 13382 begin surface coast

13400 end surface coast: CONTROL_FINISHED_OK

state 13400 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	2.4000001
DIVE	694	ESCAPE_HEADING	100	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	3	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	4	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00065	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-11363.015	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	311	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3850	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043469137
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-62.615704	SEABIRD_T_H	0.00062159239
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00012025224	SEABIRD_T_I	2.0014088e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	1.6690842e-06
MASS	51717	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9685602
NAV_MODE	0	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1354375
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	1	SEABIRD_C_I	-0.0013495153
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00019269099
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	060111,034006,6701.753,-5701.442,36,0.8,47,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060111,035450,6701.768,-5701.632,14,1.0,14,-37.6	MHEAD_RNG_PITCHd_Wd	114.5,10106,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	679

FREEZE	1.02,1.415,-0.932,0,1,0	ALTIM_TOP_PING	19.9,18.2
FINISH	1.0,1.013757	_24V_AH	21.7,79.799
SM_CCo	13418,224.32,0.080,0,0,440,609.08	_10V_AH	9.8,54.866
SM_GC	1.69,0.00,0.00,224.32,0.000,0.000,0.080,299,2788,440,-6.79,0.23,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	683	FG_AHR_10Vo	0.000
RAFOS	0,1294286461,4.033333,4.016944,49,46,44,43,42,41,606,559,1270,1362,1327,842	MEM	151724
RAFOS_FIX	6704.030273,-5704.088867,060111,040453,3,88,1.65	DATA_FILE_SIZE	36691,1044
IRIDIUM_FIX	6631.12,-5708.95,050111,232308	CAP_FILE_SIZE	142109,0
TT8_MAMPS	0.027713	CFSIZE	260165632,203845632
HUMID	46.02	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.52419	SOUNDSPEED	1467.8
TCM_TEMP	16.10	GPS	060111,074425,6702.040,-5659.059,37,1.1,37,-37.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	243	93.04	SBE_CT	721	24	375.53
Roll_motor	95	74	153.74	SBE_O2	0	0	0.00
VBD_pump_during_apogee	342	1004	7470.19	nil	0	0	0.00
VBD_pump_during_surface	224	80	391.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	52.84	nil	0	0	0.00
Iridium_during_connect	18	160	64.74	nil	0	0	0.00
Iridium_during_xfer	461	223	2231.61	nil	0	0	0.00
Transponder_ping	2	420	20.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.12
TT8	2602	19	508.07
LPSleep	8374	2	189.58
TT8_Active	704	19	137.61
TT8_Sampling	2252	39	881.22
TT8_CF8	606	45	272.76
TT8_Kalman	0	0	0.00
Analog_circuits	1693	12	199.16
GPS_charging	0	0	0.00
Compass	1782	15	262.09
RAFOS	2520	3	74.09
Transponder	16	30	4.93

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.0	0.0	0.0	0	164	0.00	0.00	-142.75	0.000	2	0.000	0.000	279	2785	3435	0	0	0	0	0	0
167	-0.57	-146.0	5.5	-10.5	25	187	8.43	2.33	-1.75	0.000	4	0.243	0.059	2283	1368	3523	0	0	0	0	0	0
287	-0.60	-146.0	32.1	-11.0	45	294	0.00	2.33	0.00	0.000	6	0.000	0.059	2281	2777	3524	0	0	0	0	0	0
633	-0.63	-146.0	71.4	-11.1	106	639	0.00	2.25	0.00	0.000	4	0.000	0.049	2281	1368	3523	0	0	0	0	0	0
671	-0.67	-146.0	75.6	-11.3	112	678	0.00	2.30	0.00	0.000	6	0.000	0.060	2279	2763	3523	0	0	0	0	0	0
1014	-0.70	-146.0	108.0	-8.7	165	1015	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2763	3522	0	0	0	0	0	0
1331	-0.75	-146.0	136.2	-8.2	195	1333	0.12	0.00	0.00	0.000	6	0.102	0.000	2220	2763	3522	0	0	0	0	0	0
1649	-0.69	-146.0	173.6	-11.9	225	1654	0.12	2.03	0.00	0.000	4	0.174	0.070	2247	3947	3522	0	0	0	0	0	0
1683	-0.69	-146.0	177.3	-10.4	228	1687	0.00	1.95	0.00	0.000	6	0.000	0.045	2247	2756	3522	0	0	0	0	0	0
2014	-0.69	-146.0	212.1	-10.2	259	2018	0.00	2.22	0.00	0.000	4	0.000	0.047	2247	1360	3523	0	0	0	0	0	0
2081	-0.71	-146.0	218.7	-9.4	264	2088	0.00	2.28	0.00	0.000	6	0.000	0.059	2247	2743	3523	0	0	0	0	0	0
2407	-0.71	-146.0	248.2	-8.9	295	2411	0.00	2.03	0.00	0.000	4	0.000	0.070	2247	3924	3524	0	0	0	0	0	0
2442	-0.71	-146.0	251.6	-9.8	298	2446	0.00	1.92	0.00	0.000	6	0.000	0.045	2247	2745	3524	0	0	0	0	0	0
2773	-0.71	-146.0	283.5	-9.9	329	2777	0.00	2.17	0.00	0.000	4	0.000	0.047	2247	1360	3524	0	0	0	0	0	0
2814	-0.73	-146.0	287.4	-9.8	332	2818	0.00	2.25	0.00	0.000	6	0.000	0.057	2247	2735	3524	0	0	0	0	0	0
3139	-0.73	-146.0	317.1	-8.8	362	3140	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2736	3525	0	0	0	0	0	0
3461	-0.73	-146.0	344.1	-9.3	392	3464	0.00	2.00	0.00	0.000	4	0.000	0.067	2247	3933	3526	0	0	0	0	0	0
3511	-0.76	-146.0	349.5	-10.1	396	3521	0.00	1.92	0.00	0.000	6	0.000	0.044	2247	2733	3526	0	0	0	0	0	0
3838	-0.76	-146.0	380.6	-9.4	427	3839	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2733	3527	0	0	0	0	0	0
4174	-0.78	-146.0	411.6	-8.8	451	4177	0.00	2.12	0.00	0.000	4	0.000	0.045	2247	1373	3528	0	0	0	0	0	0
4209	-0.81	-146.0	414.8	-8.3	452	4214	0.00	2.22	0.00	0.000	6	0.000	0.057	2247	2738	3528	0	0	0	0	0	0
4546	-0.81	-146.0	440.7	-7.8	463	4550	0.00	1.98	0.00	0.000	4	0.000	0.067	2243	3927	3529	0	0	0	0	0	0
4585	-0.83	-146.0	444.2	-7.9	464	4590	0.10	1.90	0.00	0.000	6	0.116	0.043	2192	2726	3529	0	0	0	0	0	0
4922	-0.74	-146.0	483.2	-12.0	475	4926	0.15	2.05	0.00	0.000	4	0.167	0.067	2225	3933	3529	0	0	0	0	0	0
4978	-0.74	-146.0	489.4	-10.0	476	4982	0.00	1.88	0.00	0.000	6	0.000	0.044	2224	2749	3529	0	0	0	0	0	0
5296	-0.72	-146.0	521.0	-10.0	487	5297	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2749	3530	0	0	0	0	0	0
5605	-0.70	-146.0	550.7	-9.7	497	5606	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2749	3530	0	0	0	0	0	0
5909	-0.70	-146.0	579.5	-9.2	507	5910	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2749	3530	0	0	0	0	0	0
6215	-0.70	-146.0	608.9	-9.7	517	6216	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2749	3530	0	0	0	0	0	0
6522	-0.70	-146.0	639.9	-10.1	527	6523	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2749	3530	0	0	0	0	0	0
6827	-0.70	-146.0	671.5	-10.3	537	6828	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2749	3530	0	0	0	0	0	0
6916	end dive: TARGET_DEPTH_EXCEEDED
state	6916	begin apogee
6923	-0.14	0.0	680.8	10.2	540	7058	0.62	0.00	125.82	1.004	4	0.132	0.000	2426	2598	2922	0	0	0	0	0	0
7059	end apogee: CONTROL_FINISHED_OK
state	7059	begin climb
7061	0.57	146.0	686.1	0.0	544	7203	0.68	2.38	130.62	0.985	4	0.062	0.047	2670	1190	2326	0	0	0	0	0	0
7366	0.57	146.0	660.1	11.5	553	7370	0.00	2.40	0.00	0.000	6	0.000	0.054	2669	2600	2319	0	0	0	0	0	0
7680	0.51	146.0	619.8	13.4	563	7685	0.12	2.28	0.00	0.000	4	0.195	0.050	2643	1191	2315	0	0	0	0	0	0
7898	0.53	146.0	595.2	11.1	569	7903	0.00	2.30	0.00	0.000	6	0.000	0.054	2643	2611	2315	0	0	0	0	0	0
8212	0.53	146.0	558.4	11.8	579	8216	0.00	2.20	0.00	0.000	4	0.000	0.065	2644	3929	2314	0	0	0	0	0	0
8251	0.46	146.0	553.1	14.1	580	8256	0.00	2.12	0.00	0.000	6	0.000	0.043	2649	2605	2312	0	0	0	0	0	0
8587	0.44	146.0	515.2	11.0	591	8592	0.12	2.20	0.00	0.000	4	0.194	0.065	2617	3924	2312	0	0	0	0	0	0
8621	0.44	146.0	511.5	11.5	592	8624	0.00	2.10	0.00	0.000	6	0.000	0.042	2617	2614	2311	0	0	0	0	0	0
8957	0.49	173.4	482.0	8.7	603	8986	0.00	0.00	22.83	0.872	6	0.000	0.000	2617	2613	2215	0	0	0	0	0	0
9293	0.54	173.4	449.2	10.2	614	9297	0.00	2.22	0.00	0.000	4	0.000	0.067	2617	3928	2210	0	0	0	0	0	0
9309	0.57	173.4	447.1	10.6	614	9314	0.12	2.10	0.00	0.000	6	0.103	0.042	2673	2618	2209	0	0	0	0	0	0
9628	0.52	173.4	404.6	13.0	625	9629	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2616	2209	0	0	0	0	0	0
9946	0.48	173.4	366.0	12.6	651	9951	0.15	2.28	0.00	0.000	4	0.185	0.050	2635	1195	2208	0	0	0	0	0	0
9981	0.52	173.4	361.9	10.2	654	9985	0.00	2.35	0.00	0.000	6	0.000	0.054	2635	2639	2209	0	0	0	0	0	0
10311	0.52	173.4	328.0	10.2	685	10316	0.00	2.12	0.00	0.000	4	0.000	0.065	2635	3927	2208	0	0	0	0	0	0
10339	0.52	173.4	324.6	12.7	687	10346	0.00	2.08	0.00	0.000	6	0.000	0.042	2639	2625	2207	0	0	0	0	0	0
10664	0.52	173.4	290.6	10.1	718	10668	0.00	2.25	0.00	0.000	4	0.000	0.048	2638	1194	2207	0	0	0	0	0	0
10694	0.57	173.4	287.7	10.7	720	10698	0.00	2.33	0.00	0.000	6	0.000	0.052	2639	2638	2207	0	0	0	0	0	0
11019	0.57	173.4	252.4	11.5	750	11023	0.00	2.12	0.00	0.000	4	0.000	0.063	2639	3925	2207	0	0	0	0	0	0
11100	0.54	173.4	241.4	14.2	757	11104	0.00	2.05	0.00	0.000	6	0.000	0.041	2640	2638	2207	0	0	0	0	0	0
11431	0.54	173.4	203.8	10.7	788	11432	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2636	2207	0	0	0	0	0	0
11751	0.55	184.7	172.8	9.5	818	11763	0.00	0.00	9.73	0.650	6	0.000	0.000	2640	2636	2170	0	0	0	0	0	0
12082	0.59	185.7	138.6	10.0	849	12086	0.00	2.15	0.00	0.000	4	0.000	0.063	2640	3928	2169	0	0	0	0	0	0
12109	0.59	185.7	135.5	11.1	851	12116	0.00	2.03	0.00	0.000	6	0.000	0.040	2641	2653	2168	0	0	0	0	0	0
12436	0.66	208.5	107.5	8.9	882	12465	0.12	0.00	21.67	0.633	6	0.102	0.000	2696	2653	2072	0	0	0	0	0	0
12802	0.63	208.5	63.4	11.9	941	12809	0.00	2.12	0.00	0.000	4	0.000	0.063	2696	3932	2067	0	0	0	0	0	0
12834	0.58	208.5	59.0	13.2	946	12841	0.15	2.00	0.00	0.000	6	0.183	0.041	2662	2671	2066	0	0	0	0	0	0
13183	0.64	225.8	26.9	9.2	1007	13208	0.00	2.40	15.12	0.591	4	0.000	0.048	2662	1193	2001	0	0	0	0	0	0
13268	0.76	244.2	18.9	9.2	1021	13294	0.15	2.35	16.92	0.581	6	0.091	0.051	2727	2655	1927	0	0	0	0	0	0
13382	end climb: SURFACE_DEPTH_REACHED
state	13382	begin surface coast
13400	end surface coast: CONTROL_FINISHED_OK
state	13400	begin surface